US20070000372A1 - System and method for providing a waveform for stimulating biological tissue - Google Patents

Abstract

An implantable programmable stimulator system includes memory that stores waveform data for at least one waveform. A playback system provides at least one output waveform based on the waveform data.

Description

RELATED APPLICATION
• This application claims the benefit of U.S. Provisional Patent Application No. 60/671,011, which was filed Apr. 13, 2005, and entitled SYSTEM AND METHOD FOR PROVIDING A WAVEFORM FOR STIMULATING BIOLOGICAL TISSUE, the entire contents of which is incorporated herein by reference.
TECHNICAL FIELD
• The present invention relates generally to a system and method for providing a waveform for stimulating biological tissue.
BACKGROUND
• Various types of stimulators have been developed for a variety of in-vivo applications. For example, a stimulator can be employed for performing spinal cord stimulation, deep-brain stimulation or for stimulation of other neurological paths, such as for treatment of various disorders and diseases. Typically, each stimulator includes a waveform generator that generates its own waveform. For instance, a user defines the necessary parameters and the stimulator constructs the waveform accordingly. Usually the parameters include amplitude, frequency, phase symmetry and duty cycle. The more complex the waveform, the more parameters are necessary to describe the waveform.
• Implantable stimulators are constrained by space and typically cannot accommodate complex circuitry. Implantable stimulators, therefore, usually trade off waveform complexity for saving space. A simpler stimulator design also tends to consume less power, which is also a significant consideration in implantable devices. For example, power saving is important since surgery is usually required to replace the battery. Furthermore, simple stimulator designs are rugged and are generally less prone to failure. Safety and low failure rate are important requirements by the government regulator agencies for approving any medical device.
SUMMARY
• The present invention relates generally to a system and method for providing a waveform for stimulating biological tissue.
• One embodiment of the present invention provides an implantable programmable stimulator system that includes memory that stores waveform data for at least one waveform. A playback system provides at least one output waveform based on the waveform data.
• Another embodiment of the present invention provides an implantable pulse generator (IPG). The IPG includes memory that stores a waveform representation for each of a plurality of waveforms. A playback system is configured to retrieve at least one of the stored waveform representations from the memory and to provide at least one corresponding output waveform signal. At least one amplifier amplifies the corresponding output waveform signal to provide a corresponding amplified output waveform signal.
• Yet another embodiment provides a method for providing a waveform for stimulation of biological tissue. The method includes storing non-parametric waveform data corresponding to a plurality of recorded waveforms in memory located in an implantable pulse generator. At least one of the plurality of waveforms is retrieved from the memory. An output waveform is provided from playback circuitry located in the implantable pulse generator, the output waveform corresponding to the at least one of the plurality of waveforms retrieved from the memory.
BRIEF DESCRIPTION OF THE DRAWINGS
• FIG. 1 depicts an example of a block diagram for a programmable stimulation system that can be implemented according to an aspect of the present invention.
• FIG. 2 depicts an example of yet another stimulation system that can be implemented according to an aspect of the present invention.
• FIG. 3 depicts an example of a stimulation system with external programming implemented according to an aspect of the present invention.
DETAILED DESCRIPTION
• The present invention relates to an implantable programmable stimulation system that can provide an output waveform, such as for use in stimulating biological tissue. The system includes memory that stores waveform data that represents one or more waveforms. The waveforms can be generated externally and provided to the memory. The system also includes a playback system, which can be similar to electronic digital or analog sound recording and playback devices. The playback system provides an output waveform based on the waveform data. For instance, one or more selected waveforms can be selected and played back via the playback system to provide an output waveform to an amplifier. The amplifier amplifies the output waveform (e.g., using voltage or current control) to stimulate the biological tissue electrically. For example, the amplified output waveform can be provided to an electrode implanted at a location for delivering the electrical stimulus to targeted biological tissue (e.g., target sites within the brain, spinal cord, or heart). The output waveform can be adjusted or modified.
• FIG. 1 depicts astimulation system10 that can be implemented according to an aspect of the present invention. Thestimulation system10 includesmemory12 that stores (or records) waveform data corresponding to one or more waveforms. The waveform data can be preprogrammed, such as prior to implantation, or the waveform data can be programmed post-implantation of thesystem10. The waveform data can be stored in thememory12 based on an INPUT signal received by acommunication system14. The one or more waveforms can be stored as one or more complete periods of the waveform, which can be referred to as snippets. As described herein, the waveform data that is stored in thememory12 corresponds to one or more actual waveforms, which can be an analog or digital representation of the waveform(s). This type of waveform data that is stored in thememory12 is referred to herein as non-parametric waveform data.
• Thecommunication system14 can include a receiver that receives the INPUT signal via one or more communication modes, such as including radio frequency (RF), infrared (IR), direct contact (e.g., electrically or optically conductive path), capacitive coupling, and inductive coupling to name a few. The INPUT signal further can be provided via more than one communication mode, such as providing the INPUT signal as including one or more waveforms via one mode and command information (e.g., scheduling and programming information) via another mode. Thecommunication system14 can be capable of bi-directional communications, such as also including a transmitter or transceiver circuitry. The transmitter and receiver portions of thecommunication system14 can employ the same or different communication modes.
• Thememory12 can be implemented as an analog memory, such as is capable of storing an analog version of the waveform that is received by thecommunication system14. The memory can also be implemented as digital memory that stores a digital representation or sample of the input waveform or stores a digitally encoded version of the waveform. For instance, thememory12 can store the sample waveform as a digital sample, such as using pulse code modulation (PCM) or adaptive differential pulse code modulation (ADPCM) or pulse width modulation (PWM), although other modulation techniques can be utilized. The digital sample of the waveform further may be stored in a compressed format according to one or more CODECs (e.g., MP3, AAC, 3GPP, WAV, etc.), although compression is not required. There are a multitude of varying standards that can be grouped in three major forms of audio CODECs, including, for example, direct audio coding, perceptual audio coding, and synthesis coding, any one or more of which can be employed to store a digital representation of waveforms in thememory12.
• Aplayback system16 is configured to retrieve and play back one or more waveforms according to selected waveform data stored in thememory12. Theplayback system16 can be implemented as hardware (e.g., one or more integrated circuits), software or a combination or hardware and software. The implementation of theplayback system16 can vary, for example, according to the type of audio (analog or digital) that is stored in thememory12. Theplayback system16, for example, can be programmed with one or more audio CODECs that convert (or decode) the encoded waveform data into a corresponding output waveform.
• Theplayback system16 can be implemented as anintegrated circuit24, such as including a microcontroller or microprocessor. For instance, suitable microcontroller integrated circuits (ICs) are commercially available from Atmel Corporation of San Jose, Calif. Such microcontroller ICs may include thememory12 integrated into theIC24, such as in the form or FLASH memory or other programmable memory (electrically programmable read only memory (EPROM)), or thememory12 can be external to theIC24.
• Theplayback system16 provides the output waveform to anamplifier18 that amplifies the output waveform. Theplayback system16 further can be configured to provide output waveforms to one or more output channels, each output channel providing an amplified output waveform corresponding to the waveform data stored in thememory12. One ormore electrodes20 can be coupled to each of the channels for delivering electrical stimulation to biological tissue located adjacent the electrode(s).
• As an example, theplayback system16 can be configured to select one or more waveforms from thememory12 for providing a corresponding output waveform. As mentioned above, a plurality of different types of waveforms can be stored in thememory12, generally limited only by the size of the memory. Theplayback system16 thus can select and arrange one or more waveforms to provide a desired output waveform pattern. Additionally, theplayback system16 further can combine a plurality of different waveforms into more complex composite output waveforms. It will be appreciated that the ability of selecting from a plurality of predefined stored waveforms affords the stimulation system enhanced capabilities, as virtually any output waveform can be stored and played back from thememory12.
• The design can be simplified even further by storing waveforms of gradually changing parameters in thememory12. For example, a plurality of versions of the same waveform, but of varying amplitude, can be stored in thememory12 so as to effectively eliminate the need for additional amplitude controlling circuitry. Accordingly, if a greater or lesser amplitude may be required for a given application, an appropriate different waveform can be selected. Theplayback system16 can also be programmed and/or configured to manipulate one or more selected waveforms from thememory12, such as using digital or analog computation, to vary parameters (e.g., amplitude, frequency, phase symmetry and/or duty cycle) of the one or more selected waveforms. The corresponding amplified output signal corresponds to an amplified version of the selected waveform, including any such manipulations.
• Theamplifier18 can be implemented as an analog amplifier or a digital amplifier. For an analog version of theamplifier18, a digital-to-analog converter (not shown) can provide a corresponding analog version of the output waveform and a linear amplifier can, in turn, operate to amplify the analog output waveform to a desired level. Power conditioning circuitry can be utilized to provide a desired potential for use in generating the amplified output waveform. Alternatively, the amplifier can be implemented as a class D amplifier (or switched power supply), although other amplifier topologies can also be used. By implementing the amplifier as a class D amplifier, theamplifier18 can run directly off a battery or other power supply efficiently and be implemented using low-voltage components. Those skilled in the art will appreciate various types of switching amplifier topologies are that can be utilized in thesystem10. Additionally, theamplifier18 can be configured to operate in a current mode or a voltage mode control, such as to provide a desired current or voltage.
• Theamplifier18 can comprise a network of amplifiers arranged to drive a plurality of loads (depicted as electrodes20) according to respective output waveforms provided by theplayback system16. The electrode(s)20 can be implanted in strategic locations in the patient's tissue according to given application of thestimulation system10. For example, the electrode(s) can be located within a patient's brain, spinal cord or other anatomic locations. The anatomic locations can be in close proximity to the playback system or at remote locations.
• Thesystem10 can be implemented as an open loop system or a closed loop system. For the example of a closed loop system, thesystem10 can also include feedback, indicated as dottedline22. Thefeedback22 provides information about the stimulus being applied to the electrode(s) and/or about a characteristic of the electrode(s). As an example, thefeedback22 can provide an electrical signal to theplayback system16, based on which an indication of load impedance associated with the electrode(s) can be determined.
• The impedance characteristics can be utilized for a variety of purposes. For instance, the impedance can be employed to implement current control, such as by theplayback system16 selecting a predefined waveform from thememory12 to maintain a desired current level in the waveform that is provided to the electrode(s)20. Alternatively or additionally, the impedance characteristics can be used as part of diagnostics, such as by recording (or logging) impedance over extended periods of time and evaluating a condition of the electrode(s). As another alternative, thefeedback22 can be employed to ascertain high impedance conditions (e.g., an open circuit) or a low impedance condition (e.g., a short circuit). Those skilled in the art will understand and appreciate various approaches that can be implemented to provide thefeedback22. Additionally, various types of diagnostic or operational controls can be implemented based on such feedback.
• Since the waveform is played back from non-parametric waveform data that is stored in thememory12, thesystem10 can be implemented in a cost efficient manner from commercially available recording and playback circuitry. Additionally, because the waveforms can be generated externally, provided to thesystem10, and stored in thememory12, there is a greater degree of flexibility in the types and complexity of waveforms that can be stored in the memory. That is, thesystem10 is not constrained by limitations in the cost or size or complexity of a typical parametric waveform generator. Additionally, theplayback system16 may further construct more complex waveforms by combining two or more stored waveforms in a particular order (e.g., a pattern of waveform trains). As an example, one or more of the waveforms stored in the memory can include actual recorded impulses (electrical waveforms), such as can be recorded from the patient in which thestimulation system10 is to be implanted, from a different person or from a non-human animal subject.
• FIG. 2 depicts an example of a programmable stimulation system50 that can be implemented according to an aspect of the present invention. The system50 comprises an implantable pulse generator (IPG)52 that is implanted in a patient'sbody54, such as implanted under the skin of the chest (e.g., below the collarbone) or other anatomic location. In contrast to many existing IPG designs, the IPG52 is not required to generate a pulse or waveform, but instead is configured to play back one or more predefined waveforms. The IPG52 includes aninternal receiver56 that can receive a signal from anexternal programmer58, which is located external to thebody54. Theexternal programmer58 can communicate the signal to thereceiver56 using one or more communications modes, such as described herein. In the example, ofFIG. 2, a connectionless communications mode is illustrated, although a physical connection can be made to provide an electrical or optical conductive medium for data communications.
• Awaveform generator60 can provide one ormore waveforms62 to theexternal programmer58 for transmission to the IPG52. Thewaveform generator60 can include any type of device or system that can generate the one ormore waveforms62, including a programmable signal generator, a pulse generator, and a waveform synthesizer to name a few. Thewaveform generator60 further may be a PC-based system or a stand alone system capable of generating one or more desired waveforms. Thewaveform generator60 can also be programmed with biological, recorded waveforms, such as may have been measured and recorded from the patient'sbody54 or from any other biological subject (e.g., human or other animal).
• For electrical stimulation of a patient's brain, the waveform can be recorded as electrical impulses measured from one or more anatomical regions of a biological subject's brain. Thewaveform generator60 thus can provide the biological, recorded waveforms to theexternal programmer58 for transferring such waveforms to the memory via theinternal receiver56 of the IPG52. The measurements, for example, can be made by sensing electrodes inserted within target tissue or by external sensors placed adjacent target tissue or a combination of internal or external sensors. Those skilled in the art will understand and appreciate various types of sensors and measurement devices that can be employed to measure and record the biological waveforms. Additionally, while the foregoing mentions recording electrical impulses from one or more regions of a subject's brain, it is to be appreciated that the impulses can be recorded from other nerve tissue, one or more other organs, or other anatomical sites (human or other animal) or any combination thereof.
• Theexternal programmer58 transmits asignal59 to thereceiver56 of the IPG52 corresponding to thewaveform62 provided by thegenerator60. As discussed herein, thesignal59 transmitted by theexternal programmer58 can include (or encode) theactual waveform62 provided by the waveform generator60 (e.g., an actual biological, recorded waveform or a synthesized waveform). The external programmer can transmit thesignal59 as including a complete period, more than one period (e.g., snippets) or as a fraction of a period of the desiredwaveform62 in any communications mode. Thereceiver56, for example, can provide the waveform to the memory as encoded waveform data, such as corresponding to an encoding scheme implemented by thewaveform generator60. Alternatively, thereceiver56 can demodulate/decode an encoded received signal and provide a corresponding demodulated/decodedsignal66 to thememory64 so that the waveform data corresponds to the one ormore waveforms62. Additionally encoding may also be performed by thereceiver56 or other circuitry (not shown) for providing encoded waveform data for storing the waveform(s)62 thememory64.
• The sample of thewaveform66 stored in thememory64 can correspond to an analog version of the waveform or a corresponding digital (e.g., PCM) representation of the waveform. Those skilled in the art will appreciate various different representations that can be stored in thememory64 based on the teachings contained herein. It will further be understood that some or all of thewaveforms66 stored in thememory64 can be programmed prior to implantation of the IPG52 within thebody54.
• After a desired number of one ormore waveforms66 have been stored in thememory64, such as during a program mode,playback circuitry68 can play back one or more selectedwaveforms66 from thememory64. Theplayback circuitry68 can play back a waveform according to a defined play back schedule, which may be a periodic or continuous schedule. Alternatively or additionally, theplayback circuitry68 can be configured to play back one or more selected waveforms in response to a stimulus, which stimulus can be user-generated or provided by associated sensing circuitry (not shown).
• Theplayback circuitry68 can play back the one or more selected waveforms by retrieving the selected waveform(s) from the memory and providing the output waveform(s) to one ormore amplifiers70. Theamplifier70 amplifies the output waveform to a desired level to provide a corresponding amplified version of the waveform. That is, the amplifiedwaveform72 can be substantially the same as thewaveform62 generated by thewaveform generator60. Alternatively, when thewaveform62 is stored as encoded data, the amplifiedwaveform72 can correspond to a decoded version of the waveform. Typically, a plurality ofwaveforms66 are stored in thememory64 to provide a greater selection of available waveforms for operating the IPG52. The amplifiedwaveform72 can be provided to one or more strategically placed electrodes or other implantable devices capable of delivering an electrical stimulus to adjacent biological tissue.
• FIG. 3 depicts an example of part of a microprocessor basedstimulation system100 that can be implemented according to an aspect of the present invention. Thesystem100 includes a microcontroller102 that is programmed and/or configured to control the system. The microcontroller102 can communicate with an external device via adata bus104. Thedata bus104 can provide for bi-directional communication relative to the microcontroller102. The communication may include input and/or output (I/O) data, such as provided by a communications system (e.g., a transmitter or receiver, not shown). The I/O data can be analog or digital data, as the microcontroller102 includes an analog-to-digital converter106.
• By way of example, the I/O data can include command data and waveform data. The command data can include scheduling information that controls operation of thesystem100. For instance, the scheduling information can identify which waveform(s) is to be played, how many times the waveform is to be played (e.g., a fixed number or continuously). The command data thus can be employed to program one or more registers or other types of memory with program instructions or operating parameters to control operation of thesystem100. The command data may also be utilized to enter a programming or learning mode, such as during which waveform data can be learned or programmed into thesystem100. The command data can also be provided as part of a diagnostic mode in which information about system operation can be obtained from thesystem100 as output data.
• The waveform data can correspond to any number of one or more sample waveforms, which can be stored inmemory108 of the microcontroller102. While thememory108 is depicted as being internal to the microcontroller102, the memory could be external to the microcontroller or be distributed partially within the microcontroller and partially external. Thememory108 can be implemented as programmable memory, such as including FLASH memory, EPROM or other memory types. Thememory108 and other components of the microcontroller102 (as depicted inFIG. 3) can be accessed via aninternal bus110.
• The microcontroller102 includes a timing and control block112 that controls anoscillator114 to provide a corresponding digital waveform to one or more associated port drivers116. The one or more port drivers116 can receive more than one waveform (e.g., via a register118) from theoscillator114, each of which corresponds to one or more waveforms selected from thememory108. In the example ofFIG. 3, it is assumed that the waveforms stored in thememory108 are digital waveforms, such as can be encoded according to any desired CODEC. The one or more port drivers116 provide a corresponding output waveform to an associatedoutput stage120.
• Eachoutput stage120 can include a digital-to-analog converter and an amplifier that provides a respective amplified output waveform. N output stages are utilized to provide N corresponding amplified output waveforms, where N is a positive integer (N≧1). In the example ofFIG. 3, each of the output stages120 includes asigma delta demodulator122 that demodulates the encoded data provided by the port drivers116 and converts the digital representation to an analog signal. For instance, the waveforms stored in thememory108 can be encoded as 1-bit sigma delta modulated signals, which allows for high resolution waveform reproduction with low noise without requiring digital compression. It is to be appreciated that other forms of demodulation, with or without compression, can also be utilized in thesystem100. Eachdemodulator122 provides a corresponding demodulated, analog output signal to an associatedamplifier124. Eachamplifier124 can drive an associated electrode with a corresponding amplified analog output signal (the amplified output signals indicated as being provided “to electrodes”).
• As an alternative, eachoutput stage120 can be configured to directly convert the digital output waveforms provided by the port drivers116 to corresponding amplified analog signals. For example, the port drivers116 could provide the output waveforms as PCM or PWM output waveforms. The output stages can include associated amplifiers, such as implemented as class D or switching amplifiers, which convert the digital output waveforms to corresponding amplified analog output waveforms. Those skilled in the art will understand and appreciate various types of switching amplifier topologies that could be implemented to provide a switching output signals based on such output waveforms. Thus, the averaged (or low-pass filtered) amplified output signal for each output stage represents a desired amplified output waveform. Those skilled in the art will understand and appreciate various possible amplifier topologies that can be utilized in thesystem100 ofFIG. 3 (as well as in the other approaches ofFIGS. 1 and 2).
• Thesystem100 can also employfeedback130 for use in impedance determination and charge balancing using the techniques mentioned herein. For example, thefeedback130 can include an analog indication of electrode voltages, which are provided to theADC106 of the microcontroller102 and converted to corresponding digital signals. The microcontroller102 thus can employ the signals provided by the feedback information provided by the ADC to implement desired controls (e.g., voltage control or current control) or to implement diagnostic functions, such as described herein.
• Various feedback schemes can be utilized to measure impedance characteristics of a load (e.g., electrode) that is associated with each of the respective output stages120. The impedance characteristics can be described according to a model of an implanted electrode, such as may describe an electrode-electrolyte interface that is expressed as a serial capacitance and a serial resistance, together with a Faradic resistance in parallel with the series resistance and capacitance. Thus, the feedback scheme can be configured to measure the electrode model parameters in real time. Possible feedback schemes that could be implemented include a positive feedback scheme, a current interrupt scheme or continuous impedance measurement using small signal injections of multi-sinusoidal waveforms. Those skilled in the art will understand and appreciate various types of feedback schemes that can be utilized in accordance with the present invention.
• What have been described above are examples of the present invention. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the present invention, but one of ordinary skill in the art will recognize that many further combinations and permutations of the present invention are possible. Accordingly, the present invention is intended to embrace all such alterations, modifications, and variations that fall within the spirit and scope of the appended claims.

Claims (36)

1. An implantable programmable stimulator system comprising:

memory that stores waveform data for at least one waveform; and

a playback system that provides at least one output waveform based on the waveform data.

2. The system ofclaim 1, wherein the waveform data comprises non-parametric waveform data corresponding to at least a fraction of a period of the at least one waveform.

3. The system ofclaim 1, wherein the waveform data further comprises waveform data for a plurality of different waveforms, the playback system providing the output waveform based on the waveform data selected for at least one of the plurality of different waveforms.

4. The system ofclaim 3, wherein the playback system is configured to construct the output waveform by combining at least two of the plurality of different waveforms stored in the memory.

5. The system ofclaim 1, wherein the waveform data is encoded according to a CODEC, the playback system being operative to decode the waveform data according to the CODEC to provide the output waveform.

6. The system ofclaim 1, further comprising an amplifier that provides an amplified output signal corresponding to the output waveform.

7. The system ofclaim 6, wherein the amplifier comprises a switching amplifier that provides the amplified output signal as a pulse-width-modulated signal.

8. The system ofclaim 6, further comprising at least one electrode that emits an electrical stimulation signal having desired waveform characteristics according to the amplified output signal.

9. The system ofclaim 8, further comprising feedback from an output of the amplifier to the playback system, the feedback providing the playback system with information about at least one of the electrical stimulation signal emitted by the at least one electrode or a characteristic of the electrode.

10. The system ofclaim 1, wherein the playback system is at least one of programmed and configured to manipulate the output waveform to vary at least one parameter of the output waveform.

11. The system ofclaim 1, further comprising a receiver that receives an input signal that comprises the at least one waveform, the waveform data being stored in the memory according to the input signal to enable the playback system to provide the output waveform with at least a portion of the at least one waveform.

12. The system ofclaim 11, further comprising an external transmitter that provides the input signal according to at least one communication mode.

13. The system ofclaim 12, further comprising a waveform generator that provides the external transmitter with the at least one waveform, the external transmitter providing the input signal to program the memory with the waveform data for the at least one waveform.

14. The system ofclaim 13, wherein the waveform generator is programmed with at least one biological recorded waveform, the waveform generator providing the at least one biological recorded waveform to the external transmitter, the input signal provided by the external transmitter comprising the at least one biological recorded waveform.

15. The system ofclaim 12, wherein the memory and the playback system form part of a single integrated circuit that is separate from the external transmitter.

16. The system ofclaim 1, wherein the playback system is configured to provide at least one selected waveform from the memory according to a defined schedule.

17. The system ofclaim 1, wherein the playback system is configured to provide at least one of selected waveform from the memory in response to a stimulus.

18. The system ofclaim 1, wherein the memory stores waveform data for a plurality of waveforms, at least one of the plurality waveforms comprising a biological waveform recorded from a biological subject.

19. An implantable pulse generator, comprising:

memory that stores a waveform representation for each of a plurality of waveforms; and

a playback system configured to retrieve at least one of the stored waveform representations from the memory and to provide at least one corresponding output waveform signal; and

at least one amplifier that amplifies the at least one corresponding output waveform signal to provide at least one corresponding amplified output waveform signal.

20. The implantable pulse generator ofclaim 19, further comprising a receiver that receives a signal corresponding to at least one waveform according to a predetermined communication mode, the memory storing at least some of the stored waveform representations based on the signal received by the receiver.

21. The implantable pulse generator ofclaim 19, wherein the playback system is configured to retrieve and play back at least one selected waveform from the memory in response to a stimulus, such that the output waveform signal provided by the playback system comprises the at least one selected waveform.

22. The implantable pulse generator ofclaim 19, wherein the playback system is configured to retrieve and play back at least one selected waveform from the memory according to a schedule, such that the output waveform signal provided by the playback system comprises the at least one selected waveform.

23. The implantable pulse generator ofclaim 19, wherein the memory and the playback system form part of a single integrated circuit.

24. The implantable pulse generator ofclaim 19, further comprising at least one electrode that is electrically connected with the at least one amplifier, the at least one electrode emitting an electrical stimulation signal having waveform characteristics according to the corresponding amplified output waveform signal.

25. The implantable pulse generator ofclaim 24, further comprising feedback connected to provide the playback system with information about at least one of the electrical stimulation signal emitted by the at least one electrode or a characteristic of the electrode.

26. The implantable pulse generator ofclaim 19, wherein the playback system is configured to construct the at least one corresponding output waveform signal by combining at least two of the plurality of waveform representations stored in the memory.

27. The implantable pulse generator ofclaim 19, wherein the playback system is at least one of programmed and configured to manipulate at least one of the plurality of waveforms is retrieved from the memory so as to vary at least one parameter of the corresponding output waveform signal.

28. The implantable pulse generator ofclaim 18, further comprising a receiver that receives an input signal that is provided according to at least one communication mode, at least one waveform representation being stored in the memory according to the input signal.

29. The implantable pulse generator ofclaim 28, further comprising an external transmitter that provides the input signal according to the at least one communication mode.

30. The implantable pulse generator ofclaim 29, further comprising a waveform generator that provides the external transmitter with at least one of the plurality of waveforms, the external transmitter providing the input signal to program the memory with the waveform representation for the at least one of the plurality of waveforms provided by the waveform generator.

31. The implantable pulse generator ofclaim 30, wherein the waveform generator is programmed with waveforms recorded from a biological subject, the at least one of the plurality of waveforms provided by the waveform generator comprising at least one of the biological recorded waveforms.

32. The implantable pulse generator ofclaim 19, wherein the memory stores a plurality of waveforms, at least one of the plurality waveforms stored in the memory comprising a biological waveform recorded from a biological subject.

33. The implantable pulse generator ofclaim 19, wherein the plurality waveforms are stored in the memory as digital data and the playback system provides the at corresponding output waveform signal as a digital output waveform signal, the implantable pulse generator further comprising a digital-to-analog converter that converts the digital output waveform signal to a corresponding analog output waveform signal, the amplifier comprising analog amplifier that amplifies the analog output waveform signal to provide the at least one corresponding amplified output waveform signal.

34. A method for providing a waveform for stimulation of biological tissue, the method comprising:

storing non-parametric waveform data corresponding to a plurality of recorded waveforms in memory located in an implantable pulse generator;

retrieving at least one of the plurality of waveforms from the memory; and

providing an output waveform from playback circuitry located in the implantable pulse generator, the output waveform corresponding to the at least one of the plurality of waveforms retrieved from the memory.

35. The method ofclaim 34, further comprising:

implanting the implantable pulse generator in a patient's body, at least one electrode connected to receive the output waveform, the at least one electrode delivering at least one electrical stimulus to targeted biological tissue with waveform characteristics according to the output waveform provided from the playback circuitry.

36. The method ofclaim 34, wherein the at least one waveform that is retrieved from memory includes at least one waveform recorded from a biological subject.

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